Mudra MK-โ is a gesture-controlled robotic arm developed as an educational and research initiative. It is engineered to automate repetitive tasks through intuitive hand gestures, making it ideal for learning environments and experimentation in human-machine interaction.
The robotic arm features a four-link structure - comprising a base, two articulated links, and an end effector - enabling reliable pick-and-place functionality.
Control is facilitated through a wearable glove interface, equipped with flex sensors and an accelerometer, which translate real-time hand movements into precise robotic actions.
๐ฑ Mudra MK-โ marks the beginning of our journey as a student innovation team. As our very first project, it represents not just technical achievement, but a shared vision โ to explore, learn, and build solutions that bridge creativity and engineering. This is the foundation upon which future ideas will grow.
๐ค 4-Link Robotic Arm Structure ย ย ย ย โค Enables precise and flexible movement
๐๏ธ Gesture-Based Control ย ย ย ย โค Uses flex sensors and an accelerometer for intuitive interaction
๐ฆ Pick-and-Place Functionality ย ย ย ย โค Automates repetitive tasks with ease
๐งญ Intuitive User Interface ย ย ย ย โค Offers seamless and user-friendly control
Note:
The integration of a 4th link between the end effector and the robotic arm is part of our planned system expansion.
In the current release, the design has been optimized for stability, ease of control, and project timelines.
Full 4-link integration, offering enhanced dexterity and extended functionality, is scheduled for future updates.
Further design considerations and future rollout details are outlined in the DESIGN.MD file.
git clone https://github.com/Robo-Linkers/Gesture-controlled-robotic-arm.gitcd Gesture-controlled-robotic-armsrc folder, you will find two Arduino code
files: Glove.ino and Power_Drive.ino.
Glove.ino to the ESP32 board that handles
gesture recognition.Power_Drive.ino to the ESP32 board that controls
the robotic armโs movements.Once youโve uploaded both codes to the respective boards, your setup should be ready for further testing.
Gesture-controlled-robotic-arm/
โ .gitattributes
โ .gitignore
โ CONTRIBUTING.md
โ LICENSE
โ README.md
โ requirements.txt
โ
โโโโassets
โ โโโโicons
โ โ 3-dof-arm.png
โ โ bill.png
โ โ binary-code.png
โ โ docs.png
โ โ pcb-board.png
โ โ schematic.png
โ โ testing.png
โ โ
โ โโโโimages
โ feature-excluded.png
โ mechanical-assembly-ss-front.png
โ mechanical-assembly-ss.png
โ robotic-arm-front-view.jpg
โ robotic-arm-glove.jpg
โ robotic-arm-side-view.jpg
โ Screenshot 2025-02-11 091135.png
โ Screenshot 2025-02-11 091319.png
โ
โโโโdesigns
โ โ BASE v14.step
โ โ Bill_of_Materials_Electrical.pdf
โ โ Bill_of_Materials_Mechanical.pdf
โ โ BOM.MD
โ โ DESIGN.MD
โ โ Schematic_Glove-Gesture-Controlled-Robotic-Arm_2025-04-26.pdf
โ โ Schematic_Power-Drive-Gesture-Controlled-Robotic-Arm_2025-04-26.pdf
โ โ
โ โโโโSolid-edge
โ BASE-v14-solid-edge.asm
โ BASE-v14-solid-edge.cfg
โ
โโโโdocs
โ DESIGN.html
โ README.html
โ BOM.html
โ TESTS.html
โโโโsrc
โ Glove.ino
โ Power_Drive.ino
โ
โโโโtests
โ TESTS.MD
โ
โโโโEmbedded Systems
โ โโโโCOMPLETE
โ โ COMPLETE.ino
โ โ
โ โโโโDUAL-MPU6050
โ โ DUAL-MPU6050.ino
โ โ
โ โโโโFLEX-SENSORS
โ FLEX-SENSORS.ino
โ
โโโโPower Electronics
โโโโcomplete
โ complete.ino
โ
โโโโcomplete-dynamic
โ complete-dynamic.ino
โ
โโโโnema_17_test
โ nema_17_test.ino
โ
โโโโservo_test
servo_test.ino
.